Tactile-sensing-based robotic grasping stability analysis  

作　　者：HUANG YanJiang WANG HaoNan ZHANG XianMin 

机构地区：[1]Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,South China University of Technology,Guangzhou,510640,China

出　　处：《Science China(Technological Sciences)》2024年第6期1817-1828,共12页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52075178,52130508)。

摘　　要：Tactile signals play a crucial role in enabling robots to successfully manipulate unfamiliar objects.For robots to grasp unknown objects securely and without causing damage,it is essential that they can analyze grasping stability in real time through tactile signals and respond promptly.This study introduces a novel method for analyzing the stability of robotic hand grasping,utilizing the Wilcoxon signed rank test.The efficacy of this method is demonstrated through its static and dynamic performance,and evaluated across a series of experiments.The findings of this research highlight the method’s ability to accurately detect when an object begins to slip from the robot’s grasp.Employing this method allows the gripper to maintain a secure hold on objects by applying the minimal necessary force.It also enables the gripper to dynamically adjust the force it applies in real time,thus preventing the object from slipping during the movement of the robotic arm.Moreover,the gripper demonstrates the ability to stably grasp objects of varied weights and with unknown characteristics,showcasing the versatility and effectiveness of the proposed method.

关 键 词：grasping stability MANIPULATION tactile sensors 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]